Method and device for guiding the movement of a moveable machine element of a machine

Abstract

The invention relates to a method for guiding the displacement of a displaceable machine element ( 18 ) in a machine, comprising the following steps: a) specification of a guide target variable (x targ ) that describes the desired displacement operation of the machine element ( 18 ); b) determination of a pilot actual variable (M pilot ) and/or a guide actual variable (x act ) from the guide target variable (x targ ) using a model ( 2 ), said model ( 2 ) comprising a path model ( 3 ), which simulates the dynamic behaviour of the elements ( 16, 18 ) involved in the displacement. The invention also relates to a device that corresponds to the method. The invention permits the optimised guidance of the displacement of a displaceable machine element ( 18 ) in a machine.

1. A method for guiding a movement of a moveable machine element of a machine, comprising the steps of:
 specifying a desired reference variable describing a desired movement operation of the machine element, 
 determining an actual pre-control variable and an actual reference variable from the desired reference variable with the aid of a model, the model configured as a controlled system model that simulates a dynamic behavior of elements participating in the movement, and 
 supplying the actual pre-control variable and the actual reference variable to a control loop for controlling a motor of the machine. 
 
     
     
       2. The method of  claim 1 , wherein the method is carried out in real time during the movement operation of the moveable machine element. 
     
     
       3. The method of  claim 1 , wherein only mechanical properties of the elements participating in the movement are simulated for determining the dynamic behavior. 
     
     
       4. The method of  claim 1 , wherein the model is implemented as a controlled linear system model which is controlled by a linear control law. 
     
     
       5. The method of  claim 1 , further comprising the steps of modifying an output variable of the controlled system model by a feedback variable, and feeding the modified output variable back to an input variable of the controlled system model. 
     
     
       6. The method of  claim 1 , wherein the desired reference variable comprises a desired position, a desired speed or a desired acceleration. 
     
     
       7. The method of  claim 1 , wherein the actual reference variable is time-delayed before being supplied to the control loop. 
     
     
       8. The method of  claim 1 , further comprising the step of supplying a difference between the actual reference variable and a measured actual variable to a position controller in the control loop for control the motor. 
     
     
       9. The method of  claim 1 , wherein the control loop has a speed controller ( 13 ), and further comprising the steps of adding an output signal of the speed controller and the actual pre-control variable to form a sum signal, and controlling a motor current with the sum signal. 
     
     
       10. The method of  claim 1 , wherein the machine comprises a machine tool, a production machine or a robot, or a combination thereof. 
     
     
       11. A device for guiding a movement of a moveable machine element of a machine, the device comprising:
 a unit for specifying a desired reference variable describing a desired movement operation of the moveable machine element, 
 a model configured as a controlled system model that simulates a dynamic behavior of elements participating in the movement, the model further configured to determine from the desired reference variable an actual pre-control variable and an actual reference variable, and 
 a control loop receiving the actual pre-control variable and the actual reference variable and controlling a motor of the machine. 
 
     
     
       12. The device of  claim 11 , wherein the control loop comprises a position controller receiving a difference between the actual reference variable and a measured actual variable for controlling the motor. 
     
     
       13. The device of  claim 11 , wherein the control loop comprises a speed controller providing an output signal, and wherein a sum formed of the output signal of the speed controller and the actual pre-control variable controls the motor current. 
     
     
       14. The device of  claim 11 , wherein the machine comprises a machine tool, a production machine or a robot, or a combination thereof.